#include "SERVER/Server.h"


void pwm_init(u16 arr,u16 psc)
{  
     GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    TIM_OCInitTypeDef  TIM_OCInitStructure;
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);// 
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA , ENABLE);  //使能GPIO外设时钟使能
   //设置该引脚为复用输出功能,输出TIM1 CH1的PWM脉冲波形
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9|GPIO_Pin_10; //TIM_CH1
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;  //复用推挽输出
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

   
  TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值  80K
  TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值  不分频
  TIM_TimeBaseStructure.TIM_ClockDivision = 0; //设置时钟分割:TDTS = Tck_tim
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM向上计数模式
  TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); //根据     TIM_TimeBaseInitStruct中指定的参数初始化TIMx的时间基数单位
  TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; //选择定时器模式:TIM脉冲宽度调制模式2
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //比较输出使能
  TIM_OCInitStructure.TIM_Pulse = 0; //设置待装入捕获比较寄存器的脉冲值
  TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //输出极性:TIM输出比较极性高
  TIM_OC1Init(TIM1, &TIM_OCInitStructure);  //根据TIM_OCInitStruct中指定的参数初始化外设TIMx
  TIM_OC2Init(TIM1, &TIM_OCInitStructure);  //根据TIM_OCInitStruct中指定的参数初始化外设TIMx
  TIM_CtrlPWMOutputs(TIM1,ENABLE);  //MOE 主输出使能 
  TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);  //CH1预装载使能     
  TIM_ARRPreloadConfig(TIM1, ENABLE); //使能TIMx在ARR上的预装载寄存器
  TIM_Cmd(TIM1, ENABLE);  //使能TIM1
}



/*舵机的代码

    while(1)
    {   
			u8 i=0;
        for(i=6;i<26;i++)
        {
            TIM_SetCompare1(TIM1,i); //-90度,0.5ms
            TIM_SetCompare2(TIM1,i); //-45度,1ms
            Delay_ms(50);
        }
        for(i=26;i>5;i--)
        {
            TIM_SetCompare1(TIM1,i); //-90度,0.5ms
            TIM_SetCompare2(TIM1,i); //-45度,1ms
            Delay_ms(50);
        }
    }

*/




